Szczegóły publikacji
Opis bibliograficzny
Type-2 fuzzy logic controller for nonlinear object control / Agata NAWROCKA, Marcin NAWROCKI, Andrzej KOT // W: ICCC 2015 [Dokument elektroniczny] : proceedings of the 16th International Carpathian Control Conference : Szilvásvárad, Hungary, May 27–30, 2015 / eds. Ivo Petráš [et al.]. — Wersja do Windows. — Dane tekstowe. — [Piscataway] : IEEE, cop. 2015. — 1 dysk optyczny. — Dod. ISBN 978-4799-7370-5. — e-ISBN: 978-1-4799-7369-9. — S. 334–337. — Wymagania systemowe: Adobe Reder ; napęd CD-ROM. — Bibliogr. s. 337, Abstr.
Autorzy (3)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 90773 |
|---|---|
| Data dodania do BaDAP | 2015-08-05 |
| Rok publikacji | 2015 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Konferencja | International Carpathian Control Conference 2015 |
Abstract
In the paper, the concept of using the type 2 fuzzy logic controller for nonlinear object control was presented. The first part provides general information about type 2 fuzzy logic. Next, information about the control object was presented. As a control object, the two degree of freedom robot manipulator was chosen. In this case there are two main problems. The first one is that the object is for a rehabilitation process so the quality of the control system is very important. The next problem is with the nonlinear dynamics with the uncertain parameters of a robot manipulator. The first part of the research consisted of simulation tests. For this part, a simulation model of robot manipulator was prepared. The dynamic equations were used to build a model in MATLAB. Fuzzy logic controller was built in MATLAB too. During this research, the main problem was suitable control quality. It is very important because control quality is connected with a rehabilitation process. The control algorithms enable movement realization and obtain a set position given by the physiotherapist. The results of simulation tests include comparisons between a traditional PID controller and a fuzzy logic controller (traditional fuzzy logic controller and type 2).
